Velocity - Omron NX-series User Manual

6-5-2

Velocity

Types of Velocities
The following two types of axis velocities are used in the MC Function Module.
Velocity type
Command velocity
Actual velocity
*1. This value is given if the Velocity actual value (606C hex) is mapped in the PDOs and assigned to the Actual
Current Velocity.
Velocity Unit
A velocity is given in command units/s. The command unit is the value obtained from unit conversion of
the position display unit and the electronic gear.
Axis Parameters That Are Related to Velocities
Parameter name
Maximum Velocity
Start Velocity
Maximum Jog Velocity
Velocity Warning Value
Actual Velocity Filter
Time Constant
*1. The maximum jog velocity is used as the command velocity if you specify a velocity command value that is
greater than the maximum jog velocity.
Specifying Target Velocities for Axis Operations
The velocity used in an actual positioning motion is specified by the Velocity (Target Velocity) input vari-
able to the motion control instruction.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual (W579)
This is the velocity that the MC Function Module outputs to control an axis.
This is the velocity calculated in the MC Function Module based on the actual posi-
tion input from the Servo Drive or encoder input.
Function
Specify the maximum velocity for the axis. If a
target velocity that exceeds the maximum
velocity is specified for an axis motion instruc-
tion, the axis will move at the maximum veloc-
ity.
Set the start velocity for each axis.
Set a value that does not exceed the maximum

velocity.

(Unit: command units/s)
Set the maximum jog velocity for each axis.
Set a value that does not exceed the maximum
velocity.
(Unit: command units/s)
Set the percentage of the maximum velocity at
which to output a velocity warning for the axis.
No velocity warning is output if 0 is set.
(Unit: %)
Set the time period to calculate the average
travel of the actual velocity in milliseconds. The
average travel is not calculated if 0 is set.
(Unit: ms)
Use this to reduce variations in the actual cur-
rent velocity when axis velocity is slow.
6 Introduction of Motion Control Functions
Definition
*1
Setting range
Positive long reals
Positive long reals
Positive long reals
*1
0 to 100
0 to 100
Default
400,000,000
6
0
1,000,000
0
0
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